We implemented our cycle consistency training scheme on GOHOME [1]}, which is a goal-based motion forecasting model using attentions. It first predicts the endpoint of the trajectory and then completes the whole trajectory conditioned on the goal.
Since the original GOHOME model code is not open-sourced, we implemented our own variant of the GOHOME model, and we refer to it as GOHOME-Mod for the rest of the paper.
